Autonomy API Endpoints

note

All nodes, topics, and services are namespace prefixed with the robot serial number.

If your serial number is cpr-a300-00001, then your namespace will be a300_00001. This can be overwritten in the robot.yaml file.

 

Subscribers

 

Topic	Message type	Description	QoS
platform/cmd_vel_out	geometry_msgs/msg/TwistStamped	Continuous platform level velocity output	System Default
platform/odom	nav_msgs/msg/Odometry	Platform wheel odometry	System Default
joy_teleop/cmd_vel	geometry_msgs/msg/TwistStamped	Velocity commands from joystick inputs	System Default

 

Publishers

 

Topic	Message type	Description	QoS
autonomy/config	clearpath_navigation_msgs/msg/AutonomyConfig	Autonomy configuration	System Default
autonomy/initial_path	nav_msgs/msg/Path	Initial Path computed by autonomy	System Default
autonomy/status	clearpath_navigation_msgs/msg/AutonomyStatus	Status of the autonomy	System Default
control_selection/current_mode	clearpath_control_msgs/msg/ControlMode	Current control mode (NEUTRAL, MANUAL, AUTONOMY).	System Default
control_selection/control_state	clearpath_control_msgs/msg/ControlSelectionState	Complete state of control selection node.	System Default
docking/docking_server/path	nav_msgs/msg/Path	Docking path
docking/undocking_server/path	nav_msgs/msg/Path	Undocking path
goto/preview	clearpath_navigation_msgs/msg/GoToPreview	Preview points for a GoTo execution	System Default
localization/datum	sensor_msgs/msg/NavSatFix	Map origin (0, 0), specified as the datum	System Default
localization/fix	sensor_msgs/msg/NavSatFix	Platform lat/lon coordinates	System Default
localization/odom	nav_msgs/msg/Odometry	Platform map coordinates	System Default
mission/preview	clearpath_navigation_msgs/msg/MissionPreview	Preview points for a mission execution	System Default
speed_limit	clearpath_navigation_msgs/msg/GoToPreview	Current navigation speed limit	System Default
ui/heartbeat	geometry_msgs/msg/TwistStamped	Heartbeat of the UI	System Default
ui_teleop/cmd_vel	geometry_msgs/msg/TwistStamped	Velocity commands fron the UI joystick	System Default

 

Services

 

Service	Service type	Description
autonomy/stop	std_srvs/srv/Trigger	Stop all autonomy executions
control_selection/set_mode	clearpath_control_msgs/srv/SetControlMode	Set the control mode
control_selection/pause	std_srvs/srv/SetBool	Pause execution
control_selection/resume	std_srvs/srv/SetBool	Resume execution
docking/dock_manager/add_dock	clearpath_dock_msgs/srv/AddDock	Add a dock
docking/dock_manager/clear_data	std_srvs/srv/Trigger	Clear all dock data
docking/dock_manager/delete_dock	clearpath_dock_msgs/srv/RemoveDock	Delete a dock
docking/dock_manager/export	clearpath_dock_msgs/srv/ExportData	Export dock data
docking/dock_manager/get_database	clearpath_dock_msgs/srv/GetDockDatabase	Returns the entire dock database
docking/dock_manager/get_dock	clearpath_dock_msgs/srv/GetDock	Returns a docks info
docking/dock_manager/import	clearpath_dock_msgs/srv/ImportData	Import a dock
docking/dock_manager/update_dock	clearpath_dock_msgs/srv/UpdateDock	Update a docks information
docking/dock_localizer/add_dock_current_pose	clearpath_dock_msgs/srv/AddDockCurrentPose	Add a dock with the current pose
docking/dock_localizer/get_dock_poses	clearpath_dock_msgs/srv/GetDockPoses	Return the dock and predock poses of a specific dock
docking/dock_localizer/survey_dock	clearpath_dock_msgs/srv/SurveyDock	Survey the docks position
localization/lat_lon_to_xy	clearpath_localization_msgs/srv/ConvertLatLonToCartesian	Convert lat/lon condinate to map XY coordinate
localization/lat_lon_to_xy_array	clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray	Convert a set of lat/lon coordinates to map XY coordinates
localization/set_datum	clearpath_localization_msgs/srv/SetDatum	Set the datum
localization/xy_to_lat_lon	clearpath_localization_msgs/srv/ConvertCartesianToLatLon	Convert map XY coordinate to lat/lon coordinate
localization/xy_to_lat_lon_array	clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray	Convert a set of map XY coordinates to lat/lon coordinates
log_manager/delete_log	clearpath_logger_msgs/srv/DeleteLog	Delete a secific log
log_manager/start_recording	std_srvs/srv/Trigger	Start logging data
log_manager/stop_recording	std_srvs/srv/Trigger	Stop logging data
safety/watchdogs/add_communication_watchdog	clearpath_safety_msgs/srv/AddCommunicationWatchdog	Create a new Communication watchdog
safety/watchdogs/add_heartbeat_watchdog	clearpath_safety_msgs/srv/AddHeartbeatWatchdog	Create a new Heartbeat watchdog
safety/watchdogs/add_inclination_watchdog	clearpath_safety_msgs/srv/AddInclinationWatchdog	Create a new Inclination watchdog
safety/watchdogs/add_num_points_watchdog	clearpath_safety_msgs/srv/AddNumPointsWatchdog	Create a new NumPoints watchdog
safety/watchdogs/add_odom_covariance_watchdog	clearpath_safety_msgs/srv/AddOdomCovarianceWatchdog	Create a new OdomCovariance watchdog
safety/watchdogs/add_rtk_fix_watchdog	clearpath_safety_msgs/srv/AddRtkFixWatchdog	Create a new RTKFix watchdog
safety/watchdogs/add_topic_data_watchdog	clearpath_safety_msgs/srv/AddTopicDataWatchdog	Create a new TopicData watchdog
safety/watchdogs/add_trigger_watchdog	clearpath_safety_msgs/srv/AddTriggerWatchdog	Create a new Trigger watchdog
safety/watchdogs/enable_all	std_srvs/srv/SetBool	Enable/disable all watchdogs
safety/watchdogs/remove_watchdog	clearpath_safety_msgs/srv/RemoveWatchdog	Remove/delete a watchdog
safety/watchdogs/update_communication_watchdog	clearpath_safety_msgs/srv/UpdateCommunicationWatchdog	Create a new Communication watchdog
safety/watchdogs/update_heartbeat_watchdog	clearpath_safety_msgs/srv/UpdateHeartbeatWatchdog	Create a new Heartbeat watchdog
safety/watchdogs/update_inclination_watchdog	clearpath_safety_msgs/srv/UpdateInclinationWatchdog	Create a new Inclination watchdog
safety/watchdogs/update_num_points_watchdog	clearpath_safety_msgs/srv/UpdateNumPointsWatchdog	Create a new NumPoints watchdog
safety/watchdogs/update_odom_covariance_watchdog	clearpath_safety_msgs/srv/UpdateOdomCovarianceWatchdog	Create a new OdomCovariance watchdog
safety/watchdogs/update_rtk_fix_watchdog	clearpath_safety_msgs/srv/UpdateRtkFixWatchdog	Create a new RTKFix watchdog
safety/watchdogs/update_topic_data_watchdog	clearpath_safety_msgs/srv/UpdateTopicDataWatchdog	Create a new TopicData watchdog
safety/watchdogs/update_trigger_watchdog	clearpath_safety_msgs/srv/UpdateTriggerWatchdog	Create a new Trigger watchdog

 

Actions

 

Action Name	Action type	Description
autonomy/network_mission	clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid	Execute an autonomous mission
autonomy/network_mission_from_goal	clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal	Execute an autonomous mission, starting from a specific goal
autonomy/network_goto	clearpath_navigation_msgs/action/ExecuteNetworkGoTo	Send platform to location
autonomy/network_goto_poi	clearpath_navigation_msgs/action/ExecuteNetworkGoToPOI	Send platform to a point of interest
autonomy/local_dock	clearpath_dock_msgs/action/Dock	Dock the platform (charge target must be visible by platform 2D lidar sensor)
autonomy/local_undock	clearpath_dock_msgs/action/Undock	Undock the platform (charge target must be visible by the 2D lidar sensor)
autonomy/network_dock	clearpath_dock_msgs/action/NetworkDock	Send robot to charger (charger must be in the driveable space of the map)